Supervisory control and data acquisition system for energy extracting vessel navigation

ABSTRACT

A Supervisory Control And Data Acquisition (SCADA) system guides navigation of a vessel enabled to extract energy from wind and/or water currents primarily in offshore marine environments. An exemplary SCADA system could embody server and client software applications running on microprocessor systems at a remote control central service logging and energy distribution facility, and the vessel itself. The remote control service facility runs Human Machine Interface (HMI) software in the form of a Graphical User Interface (GUI) allowing choices to maximize system performance. The central server accesses information to control vessel position based on transmitted Global Position Satellite (GPS) data from the vessel, and weather information from the Geographic Information System (GIS) provided by multiple spatial temporal data sources. A server-side optimization algorithm fed the parameters delivered from vessel aerodynamic/hydrodynamic performance simulation software models, the vessel onboard sensor data, and integrated real-time weather and environmental data determines an optimal navigation through weather systems and presents choices to the HMI.

The present application is a continuation of U.S. patent applicationSer. No. 11/942,576, filed Nov. 19, 2007, entitled, “Supervisory Controland Data Acquisition System for Energy Extracting Vessel Navigation,”the contents of which is hereby incorporated by reference in itsentirety.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention is generally in the field of supervisory controland data acquisition systems. More specifically, the present inventionis embodied in a remote control system particularly for operation andnavigation of a mobile structure that optimally recovers energy from anoffshore marine environment.

2. Description of the Related Art

While many systems exist today for recovery of wind energy and watercurrent or wave energy, most systems are stationary, mounted on oranchored to the sea floor. Many other hydrokinetic turbine energysystems exist today that affix to sailing vessels overcoming thelimitations of fixed stationary structures. Nonetheless, all wind andhydrokinetic systems have the fundamental limitation of total possiblerecoverable energy at any given time being directly proportional to thecube of the velocity of the motive fluids. This inherent limitationrenders most of these systems economically infeasible when consideringthe manufacturing and operational costs of the system and the typicalambient wind and water current vectors rarely summing to a magnitudegreater than twenty knots. While sailing vessel designs exist such ascatamarans, which reputedly can exceed true wind speed, the function ofimmersing a hydrokinetic turbine as an appendage of such a vesselimmediately incurs drag upon the vessel ultimately to reduce the speedof the motive fluid through the turbine to unprofitable energy recoveryrates. U.S. Pat. No. 7,298,056 for a Turbine-Integrated Hydrofoiladdresses an implementation of a drag-reducing appendage as means to aneconomically viable solution. The specification of this referenceapplication suggests remote controlled operation but does not expresslydepict intentional unmanned operation of such a mobile structure foreconomic benefit into an environment of such high energy as to otherwisepresent conditions hazardous to human crews. The aforementionedreference patent application also does not delineate the various partsof the communication system in detail, thus does not enable in full,clear, concise, and exact terms, one skilled in the art to reduce such aremote control system to practice.

Therefore, there exists a need for a novel Supervisory Control And DataAcquisition system that remotely controls the operation and particularlythe navigation of a mobile structure that can cost-effectively extractenergy in an optimal manner from an environment that inherently presentsuntenable risk to human life.

SUMMARY OF THE INVENTION

The present invention is directed to a novel Supervisory Control AndData Acquisition (SCADA) remote control system for a mobile structurethat recovers naturally occurring energy from severe weather patterns.The present specification embodies an offshore energy recovery systemwherein an algorithm optimizes efficiency in the system by accountingfor data from weather observations, and from sensors on the mobilestructure, while relating these data points to performance models forthe mobile structure itself The present specification exemplifies theuse of the algorithm in navigating a sailing vessel optimized to reducedrag while responding to wind and water velocity vectors by adjustingpoints of sail, rudder rotation, openness of turbine gates, and ballastdraft, through control outputs from the microprocessor system on-boardthe sailing vessel. The SCADA system includes computer servers thatgather data through diverse means such as Global Position Satellite(GPS) systems, weather satellite systems of the National Aeronautics andSpace Administration (NASA), the National Oceanic and AtmosphericAdministration (NOAA), and United States Air Force DefenseMeteorological Satellite Program (DMSP) communicated through variousgeographic and weather data resources including but not limited to theGeographic Information System (GIS) of NOAA's National Weather Service(NWS) along with all other weather information sources available fromits National Hurricane Center (NHC) and Tropical Prediction Center(TPC). The SCADA computer servers run Human Machine Interface (HMI)secure software applications which communicate to microprocessor systemsrunning client software with a Graphical User Interface (GUI) to allowremote humans to optionally interact and choose mission criticalnavigation plans.

In addition, the present invention is not limited to implementation ofthe exemplary referenced Turbine-Integrated Hydrofoil system of U.S.Pat. No. 7,298,056. The present invention applies to remote control ofany system that exploits energy from weather patterns that availformidable amounts of naturally occurring energy. Any mobile structurethat extracts energy from electrical storms, windstorms, offshoretropical storms or hurricanes, or any aerodynamic or hydrokineticelectromechanical mobile system for renewable energy recovery underremote control especially benefits from the present invention. Otherwisewhereby without the present invention that enables a mobile system toautomatically track environmental conditions hazardous to humansanywhere in the universe, such risks of danger renders manned operationundesirable and thus the cost benefits and ease of implementation ofsuch energy exploitation systems unrealizable.

Finally, because the system embodied within the present inventioncomprises an algorithm that optimizes energy extraction using yieldfunctions derived from weather and geospatial data and vesselperformance models, the same system using just the path cost algorithmwithout weighing energy extraction yield factors into the cost oftravel, may guide navigation of vessels for logistics-only purposes pastsuch weather patterns.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 illustrates a top-level view of all components in an exemplarysystem in accordance with one embodiment of the present invention.

FIG. 2 illustrates a block diagram of the control, communications, andcomputer systems running server and client software applications in anexemplary system.

FIG. 3 illustrates electromechanical circuits for actuating control ofvarious mechanisms affecting position and velocity of the mobilestructure in an exemplary system.

FIG. 4 illustrates a representation of the graphical user interface on aclient computer system in one embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT

The present invention pertains to a remote control system and algorithmfor supervisory control and data acquisition enabling navigation andautomatic operation of a mobile energy recovery system. The followingdescription contains specific information pertaining to variousembodiments and implementations of the invention. One skilled in the artwill recognize that one may practice the present invention in a mannerdifferent from that specifically depicted in the present specification.Furthermore, the present specification need not represent some of thespecific details of the present invention in order to not obscure theinvention. A person of ordinary skill in the art would have knowledge ofsuch specific details not described in the present specification.Obviously, others may omit or only partially implement some features ofthe present invention and remain well within the scope and spirit of thepresent invention.

The following drawings and their accompanying detailed description applyas merely exemplary and not restrictive embodiments of the invention. Tomaintain brevity, the present specification has not exhaustivelydescribed all other embodiments of the invention that use the principlesof the present invention and has not exhaustively illustrated all otherembodiments in the present drawings.

FIG. 1 illustrates a top-level diagram of all components of an exemplarypractical embodiment of the present invention. Block 100 represents anoffshore mobile energy recovery structure in the process of energyextraction in an exemplary embodiment of the present invention.Exemplary embodiments of mobile structure 100 include sailing orpropelled vessels or barges or any mobile buoyant energy recovery systemknown by one of ordinary skill in the art. A non-exhaustive list ofmobile structures 100 for energy recovery includes: theTurbine-Integrated Hydrofoil of U.S. Pat. No. 7,298,056; any wave energyconversion system with propulsion means allowing relocation; one orplural wind turbines on floating platforms with propulsion meansallowing relocation; or one or plural lightening rods on floatingplatforms with propulsion means allowing relocation for extractingenergy from electrical storms; or any mobile system that extracts energyfrom pneumatic and/or hydrokinetic sources with aerodynamic and/orhydrodynamic drive means. The aforementioned list of mobile structures100 represents purely exemplary embodiments by no means restrictive ofmobile structure 100 embodiments within the scope and spirit of thepresent invention. FIG. 1 further depicts mobile structure 100 in theprocess of energy extraction circumnavigating what appears to be avortical weather pattern 101. As one may infer from the counterclockwisevortex streamlines, the weather pattern 101 manifests in the northernhemisphere as implied by the Coriolis effect. Note that thisrepresentation of a weather pattern 101 is strictly exemplary and that aweather pattern 101 consistent with a description of a cyclone in thesouthern hemisphere; a typhoon in south east Asia; a williwawnon-vortical gap flow or barrier jet wind storm offshore from theAlaskan coast or similar weather pattern elsewhere; any tropical storm;or any hurricane, remains well within the scope of a weather pattern 101for the purposes of the present invention. The exemplary embodimentfurther comprises a central service facility 102 for the purpose ofservice logging, maintenance, and bulk energy storage for laterdistribution, and especially where the remote control of the mobilestructure 100 occurs. One may note that energy storage comprisescompressed hydrogen, metal hydride storage, or charged batteries orcapacitors, as long as the mobile structure 104 and the central servicefacility 102 employ energy storage systems with compatible uploadinterfaces. The graphical representation of the central service facility102 in FIG. 1 evokes the notion of a large vessel such as a tanker ship,but a port facility equally qualifies as a central service facility 102within the scope of the present invention. The depiction of mobilestructure 103 en route to the weather pattern 101 and mobile structure104 returning to the central service facility 102 emphasizes thatcomplete round-trip operation of one or plural mobile structures 100,103, 104, whether engaged in energy recovery as in mobile structure 100or returning a payload as in mobile structure 104, essentially comprisestasks performed by the remote control system of the present invention.

Essential to the operation of the complete SCADA system is thecommunication of data from various sources. FIG. 1 further illustratesthree types of satellites, Global Position Satellites (GPS) 106, weathersatellites 105, and telecommunications satellites 107, comprising theSCADA remote control system in this exemplary embodiment. In practicallyall embodiments, the SCADA system tracks the position and velocity ofthe mobile structure 100 through a GPS 106 system. The central servicefacility 102, if itself indeed mobile, likely also tracks its ownlocation using a GPS 106 system. This specification will further expoundupon the use of the GPS 106 system as a SCADA control algorithm input insubsequent paragraphs describing FIG. 4. This specification willhereinafter use the generic term weather satellite 105 when referring toany of the weather tracking satellites availing weather data to variousgovernment and private entities. A non-exhaustive list of weathersatellites 105 able to serve this function includes: the NASA QuikSCAT;the NOAA Synthetic Aperture Radar (SAR) satellites including Radarsat-1,and Envisat satellites; any of the satellites serving the NOAA SatelliteServices Division (SSD) National Environmental Satellite Data andInformation Service (NESDIS) including Meteosat-7, Eumetsat, MTSAT-1R,Global Earth Observation Systems, GOES-EAST (GOES-12), GOES-WEST(GOES-11), GOES-9, GOES-10, GOES-13, or POES satellites. Theaforementioned list of weather satellites 105 represents purelyexemplary embodiments by no means restrictive of weather satellites 105embodiments within the scope and spirit of the present invention.Telecommunications satellites 107 represent how data communicatesbetween the central service facility 102 and one or plural of manypossible entities including those accessible through the Internet fromwhere all weather data in this exemplary embodiment disseminates, suchas from the National Weather Service 108 Geographic Information System(GIS) computer servers. Besides weather satellite 105 data, the NWS 108GIS and many other such entities including those accessible through theInternet disseminate weather data from other sources such as: oceanicweather buoys; coastal meteorology stations, Coastal Marine AutomatedNetwork Stations (C-MAN); NOAA Aircraft Operations Center; NOAA NationalHurricane Center (NHC) Aircraft Reconnaissance “Hurricane Hunters”;United States Air Force 53rd Weather Reconnaissance Squadron; USAF GPSDropwindsondes; and RIDGE radar. The aforementioned non-exhaustive listof alternate sources of weather information disseminated from the NWS108 or similar weather data disseminating entities including thoseaccessible through the Internet represents exemplary but not restrictivesources of weather data alternate to weather satellite 105 sources. Thephysical location of dissemination of data such as within an NWS 108 GIScomputer server or similar weather data disseminating entities includingthose accessible through the Internet appears terrestrial-based; inother words, the hardware resides on land 109. Obviously, if the centralservice facility 102 existed at a port on shore, a more cost-effectiveand potentially higher bandwidth data communications link such as fiberoptic cable thus supplants the telecommunications satellites 107 incommunication with the NWS 108 GIS or other similar weather datadisseminating computer servers. Telecommunications satellites 107perform another function in an exemplary system such as communicatingbetween the central service facility 102 and the mobile structure 100.However, the preferred embodiment employs a more cost-effective wirelesscommunications system communicating between the mobile structure 100 andthe central service facility 102 upon which this present specificationwill subsequently expound.

FIG. 2 illustrates an exemplary system wherein the mobile structure 100further comprises a control and communications microprocessor system 200along with the central service facility 102 further comprising amicroprocessor system running secure server 204 software applicationsand workstations 209 running secure client software applicationscommunicating with the server 204 via a Local Area, Network (LAN) 207.In some embodiments, all the secure server and client softwareapplications running within the central service facility 102 may executeon a single large computing system, but given today's state of the artcomputing technology, a multi-processor server-client LAN 207 topologyoffers the greatest advantage in terms of flexible architecture,cost-effective computing power, reliability, scalability, anddurability. In some embodiments, the control and communicationsmicroprocessor system 200 located within the mobile structure 100comprises a type of microprocessor computing system 200 known as aProgrammable Logic Controller (PLC). Traditionally evolving fromindustrial process control applications, a PLC 200 comprises ruggedizedhardware robust to physical environments demanding resistance tomechanical shock and vibration, temperature extremes, and specifically,customization for control and communication purposes fitting SCADAsystem applications. Regardless of whether the microprocessor system 200comprises custom hardware or an off-the-shelf product from a renownedPLC vendor, the microprocessor system 200 needs to execute certainfunctions as depicted in FIG. 2 in practically all embodiments. Themicroprocessor system 200 will require input, output, and input/output(I/0) functions 201 for communicating with sensors and control circuits.A wide variety of sensor and control circuits communicating with themicroprocessor system 200 through I/0 201 necessary for inputting andoutputting variables to the preferred SCADA control algorithm existwithin most practical embodiments of the mobile structure 100. Anon-exhaustive list of sensor and control circuits 201 includes:accelerometers and gyroscopes for analysis of vessel 100 stability alsoknown as attitude, or heeling and listing, along with heading, or toborrow aviation terms, pitch, roll and yaw, respectively, and renderingvirtual contours of immediate local oceanic surface and possiblyadvanced features such as dead reckoning; ballast draft readings andadjustments; a wind vane and anemometer or if combined into a singleunit an aerovane for analysis of apparent wind vectors' direction andmagnitude respectively; fuel gauges for both propulsion motor fuelreserves and output fuel from energy recovery functions and thus mobilestructure 100 weight and energy efficiency; electrolyzer electrodetemperature gauges; energy extracting electric generator armaturevoltage readings and field current adjustments; energy extractingturbine gate opening readings and adjustments affecting mobile structure100 drag; a compass for mobile structure 100 direction; a GPS receiver202 for tracking position, velocity, and using way points to comparewind sensor data comprising local apparent wind vectors, minus mobilestructure 100 velocity to determine local true wind vector, thencomparing that empirical data to data from weather satellites 105 andother sources measuring and/or estimating true wind velocity; rudderrotation readings and adjustments; propeller rotational speed readingsand adjustments; sail trim and/or boom rotation readings andadjustments; radar and/or sonar systems for physical object detection,identification, and avoidance; and one or plural video camera datastreams allowing actual views of the surrounding environment of themobile structure 100, and physical object visual pattern matching. Theaforementioned list of microprocessor I/O functions 201 representspurely exemplary embodiments by no means restrictive of I/O function 201embodiments within the scope and spirit of the present invention. Interms of SCADA software data structure development, any or all of theaforementioned I/O functions 201 constitute one or plural SCADA objecttag definitions, for various software layers to communicate from themobile structure 100 microprocessor system 200; to the central servicefacility 102 servers 204; to the central service facility 102workstations 209. Weather satellite 105 data or alternate sources ofweather information disseminated from the NWS 108 or similar weatherdata disseminating entities including those accessible through theInternet will also constitute SCADA object tag definitions. Thisspecification will further expound upon the use of the SCADA object tagswithin the preferred SCADA control algorithm in subsequent paragraphsdescribing FIG. 4.

The remaining functions associated with the microprocessor system 200 inFIG. 2 include the antenna 202 representing the receiver for the GPSsystem. The other antenna 203 represents the means by which themicroprocessor system 200 of the mobile structure 100 receives andtransmits over a wireless physical medium to the central servicefacility 102 server 204. As previously mentioned, one system ofcommunication 203 embodies satellite 107 telecommunications. In thepreferred embodiments, as long as the mobile structure 100 remainswithin line-of-sight with the central service facility 102, as onepresumes on the open sea, a point-to-point Code Division Multiple Access(CDMA) system permitting high bandwidth data including video camera datastreams provides the communications function in the preferredembodiment. Another wireless physical medium in the form ofpoint-to-point Ultra High Frequency (UHF) radio exists. While of lowerbandwidth, UHF offers wider range and does not require line-of-sight asdoes CDMA, and thus an embodiment of the present invention mayincorporate UHF as a redundant back-up in case of loss-of-signal for theCDMA. For SCADA systems without video data streams, UHF may actuallyserve the primary communication channel function. These wirelesstelecommunications systems represent exemplary embodiments withoutrestriction to other possible wireless telecommunications systemsembodied within the scope and spirit of the present invention.

The central service facility 102 houses the server 204 for the primarypurpose of aggregating weather data from any one or plural weather datadisseminating entities including those accessible through the internetsuch as the NWS 108. Some embodiments achieve robust data reliabilitythrough implementing redundant or multiple servers 204. Thetelecommunications system represented in FIG. 2 includes the link 205 tothe mobile structure 100 and the link 206 to the NWS 108 or similarweather data disseminating entities including the Internet itself. Onthe central service facility 102, link 205 and link 206 complete thechannel with the mobile structure 100 and weather data disseminatingentities including those accessible through the internet such as the NWS108, respectively, using physical mediums and protocols as previouslydiscussed. The LAN 207 in exemplary embodiments conforms to such networkstandards as IEEE 802.3, 802.3u, 802.11a,b, or g or any standard suitingthe needs of the server-client software applications in the presentinvention, and the Network Interface Cards (NIC's) 208, hardwaregenerally integrated into the workstations 209, likewise conform to theaforementioned exemplary network standards. All embodiments very likelyoperate under the most common protocol implemented today, TransmissionControl Protocol/Internet Protocol (TCP/IP) for passing of packets ofdata associated with SCADA object tags between the server 204, theworkstations 209, and the PLC 200. In an embodiment wherein the centralservice facility 102 resides on land 109, the LAN 207 accesses a WideArea Network (WAN) 211 for weather satellite 105 data or alternatesources of weather information disseminated from the NWS 108 or similarweather data disseminating entities including those accessible throughthe Internet through a router 210 instead of through atelecommunications satellite 107 as in an offshore central servicefacility 102. Either the server 204 or the router 210 may executefirewall security software during network communications. Other forms ofsecure communication between the server 204, the workstations 209, andthe PLC 200 may include Internet Protocol Security (IPSec) with packetencryption and decryption occurring during transmission and receptionwithin TCP/IP for all the aforementioned computer systems. These networkstandards and protocols examples represent several of many possiblenetwork standards and protocols configurations within the scope of thepresent invention and one must view these network standards andprotocols configurations as exemplary, not restrictive.

FIG. 3 illustrates the control-actuating electromechanical circuits inan embodiment of the mobile structure 100. Exemplary controls on themobile structure 100, 103, 104 include rudder rotation, propellerrotation in propelled embodiments, and sail trim or boom rotation insailing embodiments. Actuation of all mechanical members begins withmotor 300 activation by driving a current 317 through the motor's 300winding 316. As shown in FIG. 3, the rotor 302 of the motor 300 affixedto a small gear 303 couples to a larger gear 306 affixed to anintermediate gear shaft 307 affixed to another small gear 308 coupled toanother larger gear 309 affixed to the final drive shaft 310 in a directdrive system or to a worm 310A in a worm drive system. A systemcomprising such gear ratios as depicted in FIG. 3 serves the purpose ofreducing torque on the motor 300 that generally exhibits a highrotational velocity, low torque characteristic in lightweight,economical motor 300 embodiments. For actuating a propeller, thepreferred embodiment obviously installs a motor 300 capable of greatertorque and variable speed. In the worm drive embodiment, the worm 310Aand worm gear 311 interface further reduces the torque on the rotor 302compared to that on the final drive shaft 312. An embodiment comprisinga worm drive also affords the advantage of the braking effect such thatthe direction of transmission always goes from the rotor 302 to theshaft 312 and not vice versa given an appropriate coefficient offriction between the worm 310A and the worm gear 311. Other embodimentsrely upon the detent torque of a stepper motor 300 for braking. In otherembodiments, such as servo motors 300 or variable reluctance motors 300may not afford adequate detent torque and thus a solenoid 301 inserts aspring-activated 315 plunger tip 304 between the teeth of the firstsmall gear 303 to lock-in detent and sustain torque against stops 305when the solenoid 301 coil 314 has no current 313 flowing. Such anembodiment proceeds in actuating a control mechanism first by drivingcurrent 313 in the direction shown per the right hand rule causing thesolenoid 301 coil 314 to unlock the gear 303, then driving current 317in the motor winding 316, to initiate rotation 318 translated throughrotation 319 to rotation 320 or 320A to rotate a rudder or rotate a sailboom. Once actuation completes, the solenoid 301 coil 314 no longerconducts current, returning the solenoid 301 plunger tip 304 to thelocked position. All such control algorithm steps thus have their ownunique SCADA object tag definitions. As PLC's 200 have traditionallyevolved from industrial process applications including SCADA systemscontrol software, portability of Computer Numeric Controlled (CNC)G-code for servo-motors 300, and servo mechanisms such as mechanicallead screw, or ball screw systems analogous to worm drive systems enablepreferred embodiments of control actuators in the present invention. Onemust note that partial implementations or minor deviations known by oneof ordinary skill in the art of any of the exemplary embodiments of theaforementioned control actuator electromechanical circuits do notrepresent a departure from the scope or spirit of the present invention.

FIG. 4 illustrates the visual representations that appear on theGraphical User Interface (GUI) 400 of one or plural client workstations209 at the central service facility 102, and illustrates how a human canaffect the behavior of exemplary SCADA algorithms. The foregoingexemplary SCADA algorithms run on one or plural server 204 processingsystems including a GIS that performs all the data collection,processing, storage, analyses and navigation vector determinationsaccessible through the GUI 400 on one or plural client workstations 209.Three different workstations 209A, B, or C displaying informationpertaining to one or plural mobile structures 100, or one workstationdisplaying three different GUI's 400 at different times, at one timedisplaying the GUI 400 of workstation 209A, at another time the GUI 400of workstation 209B, and at another time the GUI 400 of workstation 209Coperate at the central service facility 102. Using typical computerpointing and data entry hardware, a human operating the workstation 209may interact with the GUI 400 to invoke any of the GUI's 400 on any ofthe workstations 209A, B, or C as shown in FIG. 4. The GUI 400 ofworkstation 209A displays position, heading, velocity, and points ofsail for the mobile structure 100 in the process of energy extraction ina sailing vessel embodiment. Vessel icon 401 graphically shows directionof the mobile structure 100 relative to true north given by the compassicon 405. GPS field 402 numerically provides vessel instantaneouslocation, velocity, and heading. Sail icon 403 and rudder icon 404 alongwith surface true wind data 406 begotten from various aforementionedweather data. Sources 108, or empirically derived from GPS 202 andaerovane sensor 201 data as previously described permits observation andcontrol of the points of sail of the mobile structure 100 in a sailingvessel embodiment. Obviously, in a propelled embodiment, a propellericon serves analogous functions as the sail icon 403.

Pointing and data entry hardware on the workstation 209A allows a humanoperator to point and select the aforementioned icons and data fields toalter visual representations and alter instantaneous control of themobile structure 100. For instance, if a human operator points andselects vessel icon 401, sail icon 403, or rudder icon 404, the operatormay view a alphanumerical field indicating points of sail using nauticalterms such as “Beam Reach” to describe that point of sail shown on thedisplay of workstation 209A. At this point, the GUI 400 can numericallygive displacement angles of the boom and the rudder with an option tothe human operator to manually change these values, overrideauto-navigation, and actuate rotation of the boom or rudder on themobile structure 100 as previously described. Herein the GUI 400, thepreferred SCADA algorithm invokes performance models for the mobilestructure 100 to estimate or forecast energy efficiency thereof, using aVelocity Prediction Program (VPP) performing Computational FluidDynamics (CFD) calculations on the sailing vessel along with its energyextracting appendage. The GUI 400 at this point also suggests forinstance, a “Broad Reach” point of sail given prevailing wind andoptimal least-cost or highest yield path analysis inputs. Selecting thevessel icon 401 also permits the human operator to monitor, adjust, andreceive performance predictions based on turbine gate openness and fueltank fullness affecting the overall drag on the mobile structure 100,given the VPP performing CFD calculations on the modeled energyextracting turbine appendage. Note for a preferred SCADA algorithm ofthe present invention, the sailing vessel VPP will output datatabulating generated power, instead of velocity for typical prior artVPP's, for the given true wind speed, turbine gate openness, fuel tankfullness, and heading, along with the accompanying points of sail andcontrol settings. Obviously, an exemplary SCADA algorithm performs ananalogous propeller performance VPP and least-cost path analysis for apropelled mobile structure 103,104 during these GUI 400 operations.Selecting the GPS field 402 allows the human operator to change viewingoptions such as converting units of parameters such as position,changing the Universal Transverse Mercator (UTM) kilometer units tomiles or to degrees, minutes, seconds of longitude and latitude;velocity, knots to kilometers per hour or miles per hour; or time, fromCoordinated Universal Time (UTC) to local time. Selecting the GPS field402 for a propelled embodiment of mobile structure 103, 104 allows formanually changing propeller rotational speed. Selecting the compass icon405 or the true wind data 406 allows the viewing orientation angle ofthe vessel icon 401 to move relative to the compass icon 405 or truewind data 406, respectively.

The GUI 400 of workstation 209B in FIG. 4 illustrates a virtual realityrepresentation 407, along with the attitude of the vessel, listing andheel angle, or to borrow aviation terms, roll and pitch, respectively,for the mobile structure 100 in the process of energy extraction. Thevirtual reality rendering 407 indicates a downward or plunging heelangle or pitch, and a port listing or roll. Had the vessel assumed anupward or breaching heel angle, the rendering 407 would display the deckinstead of the hull as indicated in the rendering 407. If the mobilestructure 100 sensors include a video camera data stream, actual oceanicsurface in the vicinity the vessel will display in this GUI 400 frame.The view parallel 408 to the direction of travel further displays theport listing coordinated with the rendering 407, along with the angle oflisting 409. A starboard listing or roll would result in an angle 409 inthe opposite direction. The view perpendicular 410 to the direction oftravel further displays the plunging or downward heel or pitch,coordinated with the rendering 407 and displaying the heel angle 411.Likewise, a breaching or upward pitch would result in the heel angle 411displayed in opposite direction. Selecting the virtual reality 407 iconallows for changing the camera angle. Selecting the listing angle 409icon or the heel angle 411 icon allows the human operator to manuallyset the threshold for a broach warning and associated control.

The GUI 400 of workstation 209C in FIG. 4 illustrates a weather map withpath analysis lines 417, 418, 419 for the mobile structure 100 operatingin the weather pattern 101. Browsing the GUI 400 of workstation 209Cinitiates a least-cost and highest yield path analysis whereby a weathersemivariogram accounting for spatial structure including land mass 109or seamounts 109, global trends and anisotropy, air temperature, watertemperature, wind direction, wind speed, and wave data forms a basis formapping predictive costs, or yields in the case of energy extraction.From the predictive map, the preferred SCADA algorithm assigns weightsthat average over suggested routes 417, 418, 419 based on path length ina weighted cost or yield raster. In the GUI 400 of workstation 209C,each concentric closed surface 413, 414, 415 represents areas ofincreasing wind and surge current energy inward to the eye 416 for agiven weather pattern 101. While a global trend may indicate a greaterdegree of symmetry and counterclockwise, in this example northernhemispheric, vortex trend as in the FIG. 1 representation of the weatherpattern 101, anisotropy caused by land 109 mass or seamount 109 andother stochastic modeled factors such as air temperature, watertemperature, wind direction, wind speed, and wave data result in aprobabilistic field that the semivariogram 413, 414, 415 represents.From this probability field, weather prediction analysis can predict apath 412 for the storm that further affects the least-cost or highestyield analysis. Note that in the GUI 400 of workstation 209C, theconcentric closed surfaces 413, 414, 415 can selectively representsemivariogram values or else predictive energy regions, also known as acost raster for non-energy extracting vessel logistics or a yield rasterwhen referring to energy extraction. The preferred embodiment alsoincludes an advanced physical object 109 detection, identification andavoidance system that remotely utilizes the integrated sensors includingbut not limited to on-board radar and sonar systems to perform sweepingremotely sensed anomalies returns. A preferred SCADA algorithm thencompares the signatures of these electromagnetic energy returns againstknown libraries of predefined physical objects 109 based on size, shape,rate of movement and other characteristics to identify possible type ofphysical object 109 feature detected. Optionally, an exemplary algorithmfurther correlates the signatures against a video camera data stream forfurther classification and confirmation of the physical object 109. Apreferred SCADA algorithm then invariably correlates the identifiedphysical object 109 spatially against the vessel's 100, 102, 103, 104current location, path and velocity in order to assess the need foraltering the vessel's 100, 102, 103, 104 course to initiate avoidanceand altered path routing and associated cost accounting. A preferredSCADA algorithm then indexes the identified physical object 109 in thealgorithmic path controls to include avoidance or least cost pathtowards the physical object 109 depending on predetermined logic and/orhuman operator interaction. A preferred SCADA algorithm of the presentinvention thereby further accounts for VPP modeling of the mobilestructure 100 when assigning weights that average over a path 417, 418,419 based on direction and length in a weighted anisotropic energy yieldraster. Depending on the cost or yield goal, the highest yield algorithmmay select a path 417 or 418, yielding the highest energy in theshortest time with least risk to structural harm to the mobile structure100, while the least-cost algorithm yields the shortest logisticaltrajectory with least risk to structural harm to an offshore embodimentof the central service facility 102, a non-energy extracting vessel.Selecting the path lines 417, 418, 419 allows the human operator tooptionally choose mission critical navigation parameters such as costand yield weights and cost or yield goals.

For all the aforementioned GUI 400 icons and data fields, a SCADA objecttag definition exists for accessing the aforementioned data structuresand evoking the aforementioned control. Object tags allow for structuredprogramming techniques facilitating manageability and sustainability ofa substantially large code base traversing multiple software applicationlayer interfaces from the workstations 209, to the server 204 and fromthe server 204 to the PLC's 200, and from the server 204 to the one orplural of many possible entities including those accessible through theInternet from where all weather data in this exemplary embodimentdisseminates, such as from the National Weather Service 108. Functionaldifferences within the GUI 400 for workstations 209A, B, or C clearly donot present a substantial departure from the scope and spirit of thepresent invention.

From the preceding description of the present invention, thisspecification manifests various techniques for use in implementing theconcepts of the present invention without departing from its scope.Furthermore, while this specification describes the present inventionwith specific reference to certain embodiments, a person of ordinaryskill in the art would recognize that one could make changes in form anddetail without departing from the scope and the spirit of the invention.This specification presented embodiments in all respects as illustrativeand not restrictive. All parties must understand that this specificationdoes not limited the present invention to the previously describedparticular embodiments, but asserts the present invention's capabilityof many rearrangements, modifications, omissions, and substitutionswithout departing from its scope.

Thus, a supervisory control and data acquisition system for energyextracting vessel navigation has been described.

1. A supervisory control and data acquisition system for an offshoreenergy recovery system comprising: one or more mobile structuresconfigured to extract energy from offshore storms; said one or moremobile structures configured to track position of, velocity of, andamount of energy recovered by said mobile structure, said one or moremobile structures including sensors; a remote control central servicefacility, said remote control central service facility configured togovern navigation of said one or more mobile structures during energyrecovery, said remote control central service facility furtherconfigured to provide control of mechanisms that govern navigation ofsaid one or more mobile structures during energy recovery; said remotecontrol central service facility further including a microprocessorsystem configured to run a server software system; wherein said controlof mechanisms that govern navigation of said one or more mobilestructures during energy recovery includes a controller configured forsupervisory control and data acquisition systems.
 2. The supervisorycontrol and data acquisition system of claim 1 wherein said remotecontrol central service facility further comprises a prediction ofenergy recovery of said one or more mobile structures, said predictionincluding access to a primary geographic information system data and apredictive performance model for velocity.
 3. The supervisory controland data acquisition system of claim 2 wherein said microprocessorsystem is further configured to access transmitted sensor or GlobalPosition Satellite data from said one or more mobile structures, andweather and environmental data from secondary geographic informationsystems from one or more sources to govern said navigation of said oneor more mobile structures during energy recovery.
 4. The supervisorycontrol and data acquisition system of claim 3 wherein said serversoftware system further comprises an algorithm to optimize said energyrecovery based on said predictive performance models for velocity topredict energy recovery, said sensors of said mobile structure, and saidweather information.
 5. The supervisory control and data acquisitionsystem of claim 1 wherein said microprocessor system is furtherconfigured to run a client software, said client software including auser interface, said user interface in communication with said serversoftware system.
 6. The supervisory control and data acquisition systemof claim 5 wherein said user interface displays options to humans. 7.The supervisory control and data acquisition system of claim 6 whereinsaid options comprise mission critical navigation of said mobilestructure.
 8. The supervisory control and data acquisition system ofclaim 5 wherein said client software accesses a server running a userinterface software to display data from an optimization algorithm uponsaid user interface.
 9. The supervisory control and data acquisitionsystem of claim 8 wherein said microprocessor system is furtherconfigured to access data or communicate through Transmission ControlProtocol and Internet Protocol.
 10. The supervisory control and dataacquisition system of claim 1 wherein said control of mechanisms thatgovern navigation of said one or more mobile structures during energyrecovery comprises control of one or more motors located at said one ormore mobile structures that rotate a rudder of said mobile structure.11. The supervisory control and data acquisition system of claim 1wherein said control of mechanisms that govern navigation of said one ormore mobile structures during energy recovery comprises control of oneor more motors located at said one or more mobile structures coupled topropellers which drive said mobile structure.
 12. The supervisorycontrol and data acquisition system of claim 1 wherein said control ofmechanisms that govern navigation of said one or more mobile structuresduring energy recovery comprises control of one or more motors locatedat said one or more mobile structures that rotate a boom about a mast ofa sailing vessel.
 13. The supervisory control and data acquisitionsystem of claim 3 wherein said server access to data from said one ormore mobile structures sensors occurs over one or more wireless radiofrequency signal channels.
 14. The supervisory control and dataacquisition system of claim 13 wherein said wireless radio frequencysignal channel is point-to-point Ultra High Frequency Radio.
 15. Thesupervisory control and data acquisition system of claim 13 wherein saidwireless radio frequency signal channel is Code Division Multiple AccessRadio.
 16. The supervisory control and data acquisition system of claim13 wherein said wireless radio frequency signal channel is satellitecommunications.
 17. The supervisory control and data acquisition systemof claim 1 wherein said server software system further comprises analgorithm to analyze yield of energy for said one or more mobilestructures on a predicted path based on weather and environmental dataand predictive performance models for velocity to predict energyrecovery of said mobile structure.
 18. The supervisory control and dataacquisition system of claim 17 wherein said sensors further compriseradar or sonar; wherein said algorithm to analyze yield of energy forsaid one or more mobile structures accesses data from said radar orsonar for physical object detection, identification, and avoidance;wherein said algorithm to analyze yield of energy for said one or moremobile structures analyzes yield of energy for a path for saidavoidance.
 19. The supervisory control and data acquisition system ofclaim 18 wherein said mobile structure sensors further comprise one ormore video camera data streams; wherein said algorithm accesses saidvideo camera data streams to further classify or confirm said physicalobject detection, identification, and avoidance.
 20. The supervisorycontrol and data acquisition system of claim 1 wherein a client softwareaccesses said server software system through a secure remote clientcontrol connection software application.
 21. The supervisory control anddata acquisition system of claim 5 wherein said user interface comprisesone or more virtual reality representations of various view angles. 22.The supervisory control and data acquisition system of claim 21 whereinsaid mobile structure sensors further comprise one or more video cameradata streams to enhance said virtual reality representations of variousview angles.